I am current doing a dive on the math behind muscle input calculations in SCONE's GitHub repository. Specifically, I am interested in the calculations performed in the MuscleReflex function. Here is the section I am referring to:
From MuscleReflex.cpp
Code: Select all
void MuscleReflex::ComputeControls( double timestamp )
{
// add stretch reflex
u_l = GetValue( m_pLengthSensor, KL, L0, allow_neg_L );
// add velocity reflex
u_v = GetValue( m_pVelocitySensor, KV, V0, allow_neg_V );
// add force reflex
u_f = GetValue( m_pForceSensor, KF, F0, allow_neg_F );
// add spindle reflex
u_s = GetValue( m_pSpindleSensor, KS, S0, allow_neg_S );
// add spindle reflex
u_a = GetValue( m_pActivationSensor, KA, A0, allow_neg_A );
// sum it up
u_total = u_l + u_v + u_f + u_s + u_a + C0;
AddTargetControlValue( u_total );
}
(As a side question, is there a reference or literature explaining spindle reflex? I am unfamiliar with this parameter.)
Sincerely,
Dylan